µcan.1.ai-snap · µcan.1.ai-snap manual analogue acquisition for din-rail version 1.0...

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µCAN.1.ai-SNAPManual Analogue Acquisition for DIN-railVersion 1.0

MicroControl GmbH & Co. KGJunkersring 23D-53844 TroisdorfFon: 02241 / 25 65 9 - 0Fax: 02241 / 25 65 9 - 11http://www.MicroControl.net

Inhaltsverzeichnis

µCAN.1.ai-SNAP

1. Safety Regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.1 General Safety Regulations. . . . . . . . . . . . . . . . . 4

2. Operation of the µCAN.1.ai-SNAP . . . . . . . . . . . . . . . . . 6

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3. Project Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.1 Functional units of the module. . . . . . . . . . . . . . . 8

3.2 General Description . . . . . . . . . . . . . . . . . . . . . . . 9

3.3 Maximum System Layout . . . . . . . . . . . . . . . . . 10

3.4 Case Dimensions. . . . . . . . . . . . . . . . . . . . . . . . 12

4. Assembly and Disassembly . . . . . . . . . . . . . . . . . . . . . 13

4.1 Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.2 General Information . . . . . . . . . . . . . . . . . . . . . . 14

4.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.4 Dismantling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.1 Potential Basics . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.2 EMC Considerations . . . . . . . . . . . . . . . . . . . . . 17

5.2.1 Earthing/Grounding of inacitve Metal Parts . 18

5.2.2 Shielding of Cables. . . . . . . . . . . . . . . . . . . . 18

5.3 General Information on Wiring. . . . . . . . . . . . . . 19

5.3.1 Groups of Wires . . . . . . . . . . . . . . . . . . . . . . 19

5.4 CANbus cable . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.5 Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5.6 CAN Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.7 Module Address. . . . . . . . . . . . . . . . . . . . . . . . . 23

5.8 Bit Rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5.9 Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

6. Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.1 Terminal configuration . . . . . . . . . . . . . . . . . . . . 27

6.2 Relay output. . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

µCAN.1.ai-SNAP MicroControl Version 1.0

Inhaltsverzeichnis

µCAN.1.ai-SNAP

7. Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

7.1 Status indication after start-up . . . . . . . . . . . . . . 30

7.2 Status information during "Operation" . . . . . . . . 30

8. CANopen Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

8.1 General Information . . . . . . . . . . . . . . . . . . . . . . 32

8.2 Network Management . . . . . . . . . . . . . . . . . . . . 33

8.3 SDO Communication . . . . . . . . . . . . . . . . . . . . . 35

8.3.1 SDO Abort Protocol . . . . . . . . . . . . . . . . . . . 36

8.4 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . 37

8.4.1 Communication Profile . . . . . . . . . . . . . . . . . 38

8.4.2 Device Profile . . . . . . . . . . . . . . . . . . . . . . . . 47

8.5 Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.6 Alarm block . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8.7 Device monitoring . . . . . . . . . . . . . . . . . . . . . . . 61

8.7.1 Heartbeat Protocol . . . . . . . . . . . . . . . . . . . . 62

8.8 PDO Communication . . . . . . . . . . . . . . . . . . . . . 64

8.8.1 Transmission Modes. . . . . . . . . . . . . . . . . . . 65

8.8.2 Synchronisation Message. . . . . . . . . . . . . . . 66

8.9 Emergency Message . . . . . . . . . . . . . . . . . . . . . 67

9. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69


Safety Regulations

General Safety Regulations

1

1. Safety Regulations

Description of Symbols

This symbol marks a paragraph which explains possible sources of danger which might cause damage to the system or operating personnel.

This symbol marks a paragraph which contains useful informati-on for working with the device or which gives useful hints.

1.1 General Safety Regulations

Please read the following chapter in any case to ensure safe handling of electrical devices.

This paragraph contains important information about the usage of µCAN modules. It was written for personnel which is qualified and trained on the use of electrical devices.

Qualified and trained personnel are persons who fulfil at least one of the following conditions:

You know the safety regulations for automated machines and are familiar with the handling of the machine.

You are the operator of the machines and you have previous-ly been trained on operation modes. You are familiar with the operation of the devices described in this manual.

You are responsible for setting devices into operation or ser-vice and are trained on repairing automated machines. In ad-dition, you are trained in setting electrical devices into operation, to connect the grounding conductor and to label these devices accordingly.

Application of the devices according to the regulations.

The devices described in this manual shall only be used for the mentioned applications. Other devices used in conjunction have to meet the respective safety regulations and EMI requirements.

Attention!

Note

Attention!


Safety Regulations

General Safety Regulations

1

To ensure a trouble free and safe operation of the device, please ensure proper transport, appropriate storage, proper assembly as well as careful operation and maintenance.

Information on pro-ject planning and installation of the devices

Please see to it that the local safety regulations are observed du-ring set-up of the devices.

If devices are to be integrated into stationary machines without a mains switch for all phases or fuses, this equipment must be in-stalled first. The stationary machine must be connected to a grounding conductor.

If devices are supplied by mains, please see to it that the selected input voltage fits to the local mains.

Safety Notice If the devices are supplied by 24V DC auxiliary supply, please en-sure isolation of the low-voltage lines from other voltages.

The cables for power supply, signal lines and sensor lines must be installed in such a way that the functionality of the device is not influenced by EMI.

Devices or machines used in industrial automation must be con-structed in such a manner to prevent any unintentional operation.

Safety precautions have to be taken by means of hardware and software in order to avoid undefined operational states of auto-mated machines in case of a cable break.

Where automated machines can cause damage to material or personnel in case of a malfunction, the system designer has to ensure that the safety precautions are met. Possible safety pre-cautions might be the integration of a limit switch or a mechanical locking device.

Attention!

Attention!


Operation of the µCAN.1.ai-SNAP

Overview

2

2. Operation of the µCAN.1.ai-SNAP

2.1 Overview

The µCAN.1.ai-SNAP is the ideal solution for acquisition of ana-log standard signals via CAN bus. By using a potential-free relay output faulty conditions can be indicated immediately.

Fig. 1: Analogue acquisition module µCAN.1.ai-SNAP

Acquisition and output of signals via bus system reduces costs as expensive I/O cards for control units or IPCs can be omitted and increases flexibility when planning or modifying plants and ma-chinery.


Operation of the µCAN.1.ai-SNAP

Overview

2

The development in automation towards decentralized "intelli-gent" systems makes communication between these compon-ents increasingly important.

Modern automated systems require the possibility to integrate components from different manufacturers. The solution to this problem is a common bus system.

All these requirements are fulfilled by the µCAN.1.ai-SNAP mo-dule. The µCAN.1.ai-SNAP runs on the standard fieldbus CAN.

Typical applications for the µCAN.1.ai-SNAP are industrial auto-mation, transportation, food industry and environmental techno-logy.

The µCAN.1.ai-SNAP operates with the CAN protocol

according to DS-404. Other protocol stacks are available on re-quest.

Space saving and compact

Due to its lean design the µCAN.1.ai-SNAP is ideally suitable for DIN-rail mounting in a protection class IP20 housing used in in-dustrial environments. The compact and space-saving casing of-fers the opportunity to apply the module virtually everywhere. The modules can be serially connected to each other and bus as well as power supply can internally be connected through.

Inexpensive and Service friendly

The quick and easy integration of the µCAN.1.ai-SNAP in your application reduces the development effort. Costs for material and personnel are reduced to a minimum. The easy installation of the module facilitates maintenance and replacement.


Project Planning

Functional units of the module

3

3. Project Planning

The chapter Project Planning contains information which is im-portant for systems engineers and users of the µCAN.1.ai-SNAP. This information include case dimensions and optimum conditi-ons of use.

3.1 Functional units of the module

The following figure shows the different functional units of the µCAN-SNAP module. The figure illustrates the structure and po-sition of setting and operational options available.

Fig. 2: Overview of functional units

1: Set bit rate2: Module ID setting3: Bi-color LED for status indication4: Termination switch

5: Connector power supply6: Connector CAN7: Connector analogue input8: Connector relay


Project Planning

General Description

3

3.2 General Description

The µCAN.1.ai-SNAP is a module for measuring temperatures via the CAN-bus. Resistance temperature detectors or thermo-couples may be connected directly to the device. In case of ther-mocouple measurement cold junction compensation is achieved via the hardware. In addition, the device is equipped with a po-tential-free relay output which can indicate temperatures violating certain temperature limits.The module can be supplied with voltage of 18V - 60V.

Connection of the µCAN.1.ai-SNAP to power supply and CAN bus should be realised via four core wires, thus reducing wiring to a minimum. Adequate CAN wires are also available.


Project Planning

Maximum System Layout

3

3.3 Maximum System Layout

For an executable bus system at least one network manager must exist on the bus. This network manager might be a PLC or PC equipped with an adequate CAN card. Each µCAN.1.ai-SNAP module represents an active CAN node.

A bus line is able to logically operate a maximum of 127 modu-les. Each modules is assigned a unique address which is set via DIP switch at the module itself. The CAN bus can be connected through the individual µCAN modules.

Fig. 3: Maximum system layout

ID 1

Network-Manager

ID 2 ID 127


Project Planning

Maximum System Layout

3

The maximum cable lengths depend on the selected bit rate and are listed in the table below. The values are recommended by CAN in Automation and can be realized with the µCAN.1.ai-SNAP.

CAN in Automation recommends not to use a bit rate of 100 kBit/s in new systems.

Bit rate in kBit/s Cable length in m

1000 25

800 50

500 100

250 250

125 500

100 650

50 1000

20 2500

10 5000

Table 1: Bit rates in relation to cable length

Note


Project Planning

Case Dimensions

3

3.4 Case Dimensions

The case dimensions of the µCAN.1.ai-SNAP are given in the drawing below. Due to its lean structure the casing is ideally sui-ted for DIN-rail mounting. Please check the technical data section for detailed information about the maximum environment conditi-ons of the module.

Fig. 4: Case dimensions


Assembly and Disassembly

Safety Notice


4

4. Assembly and Disassembly

4.1 Safety Notice

This paragraph contains important information about the usage of µCAN modules. It was written for personnel which is qualified and trained on the use of electrical devices.

Qualified and trained personnel are persons who fulfil at least one of the following conditions:

You know the safety regulations for automated machines and are familiar with the handling of the machine.

You are the operator of the machines and you have previous-ly been trained on operation modes. You are familiar with the operation of the devices described in this manual.

You are responsible for setting devices into operation or ser-vice and are trained on repairing automated machines. In ad-dition, you are trained in setting electrical devices into operation, to connect the grounding conductor and to label these devices accordingly.

Application of the devices according to the regulations.

The devices described in this manual shall only be used for the mentioned applications. Other devices used in conjunction have to meet the respective safety regulations and EMI requirements.

To ensure a trouble free and safe operation of the device, please ensure proper transport, appropriate storage, proper assembly as well as careful operation and maintenance.

Attention!

Attention!


General Information


4

4.2 General Information

Assembly The µCAN modules are designed to be mounted to a standard rail TS35. The modules are equipped with snap lock and can be snapped to the rail without using a tool.

Power Supply Power can be supplied via a two core wire which is fixed to the respective terminals. However, application of four core wires is more convenient as the CANbus can use the same connection.

The PE is supplied by an integrated functional earthing conductor which is situated in the back of the casing. Snapping the module onto the rail simultaneously connects the contact to the rail. PE supply within the casing is not allowed due to EMC regulations.

The PE protective conductor must not lead into the casing or connected to one of the terminals.

Fig. 5: Supply of the PE protective conductor

When operating the µCAN.1.ai-SNAP the casing must be closed.

Attention!

PE

Attention!


Installation


4

4.3 Installation

If the modules are to be fixed directly to the machine, please en-sure that bore diameters allow for tapping.

When mounting several modules in a row, please leave sufficient space between the modules for the installation of the high-strength cable glands.

To facilitate identification of the module during operation the ca-sings should be labelled on the lid after assembly. We recom-mend using the set module ID for labelling.

When mounting several modules on a bus line, please make sure that the last module installed to the bus is terminated with a resi-stor.

4.4 Dismantling

Please make sure that the device is disconnected from power supply first!

Disconnect all signal wires from the connectors. Then, dis-connect the CAN bus and the power supply line from the connec-tor.

Note

Note

Potential Basics Installation

5

5. Installation

5.1 Potential Basics

The potential environment of th μCAN.1.ai-SNAP modules is characterized by following features:

The CAN bus potential is not isolated from the power supply. (Optionally available: galvanic isolation of the CAN bus)

The individual μCAN.1.ai-SNAP modules are not isolated from the power supply.

All μCAN modules can be supplied separately.

The I/O signals are not galvanically isolated.

μCAN.1.ai-SNAP MicroControl Version 1.00

Installation EMC Considerations

5

5.2 EMC Considerations

EMC (Electromagnetic Compatibility) is the ability of a device to work in any given electromagnetic environment without influen-cing this environment in an inadmissible manner.

All μCAN modules fulfil these requirements and are tested for electromagnetic compatibility in a EMC laboratory. However an EMC plan should be set up for the system in order to exclude po-tential noise sources.

Noise signals can couple in different ways. Depending on that way (guided wave propagation or non-guided wave propagati-on) and the distance to the noise source the kinds of coupling are distinguished:

DC Coupling

If two electronic circuits use the same conductor this is called a DC coupling. Potential noise sources in these cases may be: star-ting motors, frequency converters (switching devices in general) and different potentials of casings and/or common power sup-ply.

Inductance Coupling

An inductance coupling is given between two current-carrying conductors. The current in one conductor will cause a magnetic field which induces a voltage in the second conductor (transfor-mer principle). Typical noise sources are transformer, power lines and RF signal lines.

Capacitive Coupling

A capacitive coupling is given between two conductors which have a different potential (principle of a capacitor). Potential noi-se sources in these cases may be: parallel running conductors, static discharge and contactors.

RF Coupling

RF coupling is given when electromagnetic fields hit a conductor. This conductor acts as an antenna for the electromagnetic field and induces noise to the system. Typical noise sources are spark plugs and electric motors. Radio sets situated near the system may also cause interference.

To reduce the impact of noise sources please ensure that the ba-sic EMC rules are observed.

MicroControl Version 1.00 μCAN.1.ai-SNAP

EMC Considerations Installation

5

5.2.1 Earthing/Grounding of inacitve Metal Parts

General All inactive metal plates must be grounded with low impedance. This ensures that all elements of the system will have the same potential.

The ground potential must not carry any dangerous voltage and must be connected to a protective earthing conductor.

Grounding of μCAN-Modules

The μCAN modules are grounded by a cable lug which is connected outside the modules to the respective ground / earth terminal.

The ground potential must not lead into the casing.

Grounding of other modules

μCAN modules which are not delivereded in a metal or alumini-um casing do not have to be grounded to a joint ground strap.

5.2.2 Shielding of Cables

Any noise signal which works on a cable shield will be grounded to earth by appropriate conductors. The cable shields have to be connected to the grounding conductor with low impedance to avoid interference from the shields as well.

Cable Types For installation of the μCAN modules, please only use cables with a shield covering at least 80% of the core. Do not use cables with a metallized foil shield as this can be easily damaged on assembly and, therefore, does not guarantee proper shielding.

Cable Layout In general, the cable shield should be grounded on both ends. The cable shield should only be grounded on one end if an atte-nuation is necessary in the low frequency range. In addition, grounding on both ends is not possible for certain measurement sensors. In these cases, grounding on one end would be an ad-vantage if:

an equipotential bonding is not possible, analogue signals with only a few mV or mA are to be trans-

mitted (temperature sensors).

The shield of the CAN bus cable must not lead inside the μCAN modules. Never connect the shield to one of the terminals inside the casing.

For stationary applications the shield of the CAN bus cable should be connected to an earthing conductor by metal clamps.

Attention!


Installation General Information on Wiring

5

5.3 General Information on Wiring

All wires used within the system should be grouped in different categories. These could be e.g.: signal lines, data lines, power li-nes.

Power lines and data or signal lines should be arranged in sepe-rate cable ducts or groups (ref. inductance coupling).

Data and signal lines should lead along ground planes as near as possible.

Observing the rules of proper wiring layout will avoid or impede interference of parallel wires to a large extend.

5.3.1 Groups of Wires

In order to achieve a EMC-compliant wiring layout the wires should be categorized as follows:

Group 1: shielded bus and data wires,shielded analogue wires,unshielded DC wires < 60V,unshielded AC wires < 25V,coaxial wires for monitors.

Group 2: unshielded DC wires > 60V and < 400V,unshielded AC wires > 25Vand < 400V

Group 3: unshielded AC / DC wires< 400V

Combination of Groups

Based on this categorization the following combinations for ar-rangement in groups or cable ducts are possible:

Group 1 with Group 1, Group 2 with Group 2, Group 3 with Group 3

The following groups may be combined in separate cable ducts or groups without a minimum spacing:

Group 1 with Group 2

Other combinations of groups can only be realised if they are ar-ranged in separate cable ducts or groups observing the admissib-le limit values.


CANbus cable Installation

5

5.4 CANbus cable

To connect the bus devices to the CANbus an ISO11898 compli-ant cable must be used. The cable must comply with the follo-wing electrical specifications:

The μCAN modules are connected to the CAN bus cable via the terminal block inside the casing. For terminal configuration, plea-se refer to the respective chapter of this manual.

Potentials of signal lines must not be interchanged as this impe-des communication on the bus.

Characteristics Value

Impedance 108 - 132 Ohm (nom. 120 Ohm)

Specific Resistance 70 mOhm/meter

Specific Signal Delay 5 ns/meter

Table 2: Specifications of the CANbus cable

Attention!


Installation Power Supply

5

5.5 Power Supply

The μCAN.1.ai-SNAP modules are designed for industrial appli-cations. The supply voltage may vary within a range from 18 V to 36 V. The input is reverse polarity protected.

Please make sure that the power supply is correctly connected to the respective terminals. The positive line of the power supply has to be connected to the terminal V+. The negative line of the power supply has to be connected to the terminal GND.

Fig. 6: Conncetion of power supply line

Terminals V+ and GND are internally bridged.

The shielding must not lead into the μCAN module or connected to one of the terminals.

NegativePowerSupply(GND)

PositivePowerSupply(V+)

Range:

12V DC ... 40V DC

Note


CAN Bus Installation

5

5.6 CAN Bus

The CAN bus is connected to the appropriate terminal via a tow-stranded wire.

To avoid electromagnetic interference, please ensure that the CAN bus cable does not cross the signal wires.

The CAN bus line with high potential must be connected to the terminal CAN_H. The CAN bus line with low potential must be connected to the terminal CAN_L.

Fig. 7: Connection of CAN bus cable

Any reversal connection of the bus potentials will prevent com-municaton on the bus. The shielding must not lead into the mod-dule.

CAN_High CAN_Low

Attention!


Installation Module Address

5

5.7 Module Address

The address of the μCAN.1.ai-SNAP module is selected via an 8-pole DIP-switch. ( refer to figure 2, “Overview of functional units”). Selection of the address may be done with a small screw driver.

Setup of module address (here address 9 is shown)

Fig. 8: Setup of module address (address 9 is shown here)

The 8-pin DIP-switch sets the binary code for the module ad-dress. The first pin of the switch (marked with ’1’) represents bit 0 of a byte. The slide switch marked with ’7’ represents bit 7 of a byte.

Valid module addresses are within the range from 1..127, resp. 01h..7Fh. Each node within a CAN network must have a unique module address (Node ID). Two nodes with the same Node ID on a CAN bus are not allowed.

The selected address is read during initialization of the module, after Power-on or Reset. The module runs with the selected Node ID until a new Node ID is selected and a Reset is performed (via the CAN bus) or the power supply is switched off.

Switch 8 must always be in OFF position. By using switch 8 the module will be put to download mode, which will allow a new firmware to be uploaded via CAN bus.

Note

Attention!


Bit Rates Installation

5

5.8 Bit Rates

Bit rates of the μCAN.1.ai-SNAP modules are selected via the 4-pin DIP-switch. We recommend using small-size screw driver for setting the Baud rates.

Fig. 9: Selection of Baud rate (shown here: 1 MBit/s)

The 4-pin DIP-switch sets the binary code for the module bit rate. The first pin of the switch (marked with ’1’) represents bit 0 of a byte. The last pin of the switch (marked with ’4’) represents bit 3 of a byte.

The supported bit rates of the μCAN module are listed in the ta-ble below. The values are recommended by the CiA

Bit Rate DIP-switch position

1 2 3 4

10 kBit/s 1 0 0 0

20 kBit/s 0 1 0 0

50 kBit/s 1 1 0 0

100 kBit/s 0 0 1 0

125 kBit/s 1 0 1 0

250 Kbit/s 0 1 1 0

500 kBit/s 1 1 1 0

800 kBit/s 0 0 0 1

1 MBit/s 1 0 0 1

Table 3: configuration of bit rates

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Installation Termination

5

5.9 Termination

The last module on a CAN line has to be terminated with a resi-stor of 120 Ohms. Thus, the CAN bus line is properly terminated and does not reflect back to the communication lines.

For termination of the μCAN.1.ai-SNAP modules the slide switch has to be switched from position "top" to position "bottom" using a small-size screw driver.

Please make sure not to terminate those modules which work as "T-piece" on the bus line.

Fig. 10: Switching of termination

In the drawing above the termination is switched Off. The modu-les is used as T-piece on the CAN bus line. Therefore, the line has to be terminated through another module with 120 Ohm.

Note

Termination switched "OFF"


Inputs

6

6. Inputs

The µCAN.1.ai-SNAP is equipped with an analogue measure-ment input. A schematic diagram is shown here. The power sour-ce supplies the resistance thermometer.

When connecting signal lines, please observe the respective EMC rules. Only proper, EMC-compliant wiring ensures smooth operation of the modules.

Fig. 11: Analogue input

Parameter Value

Uinmax 10,625 V

Impedance Rin 510 kOhm (+/-10V) 120 Ohm (0..20mA)

Sampling rate ADC 40 ms (adjustable)

Table 4: Electric parameters

Note

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Inputs

Terminal configuration

6

6.1 Terminal configuration

The terminal block of the µCAN.1.ai-SNAP is designed for the connection of standard signals +/-10V DC as well as 0(4)..20mA available as a module variant. According to their polarity, the si-gnals must be connected to the terminal "S+" or "S-" respectively.

Fig. 12: Connection of analogue inputs

To avoid interference with electronic parts the shielding of the si-gnal lines must not lead into the casing. The shielding must be connected to the appropriate potential via special connectors out-side the casing.

6.2 Relay output

The µCAN.1.ai-SNAP is equipped with a relay output which may be used as an "emergency output". The relay is a potential-free relay which is connected to the output terminal as a changeover contact. In de-energized condition the terminal / contact is clo-sed, the other terminal is open.For details on terminal configuration please refer to the terminal diagram.

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Attention!


Inputs

Relay output

6

Fig. 13: Relay terminal

The module is equipped with one relay only, therefore, the emer-gency messages "value above limit" and "value below limit" cannot be emitted separately. The functioning of the emergency output is shown in the block diagram below.

Fig. 14: Functional diagram of relay output

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Diagnosis

7

7. Diagnosis

All modules of the µCAN series are equipped with LEDs to indi-cate the status and error conditions of the module.

The µCAN.1.ai-SNAP is equipped with a duo-LED (green/red) on the board.

Denomination Status for is printed on the casecover.

Fig. 15: Position of the LED on the module

In normal operation the LED should either have a green colour or be blinking. A red steady light or a red blinking of the LED indica-tes an error condition.

Note

Status LED

Note


Diagnosis

Status indication after start-up

7

7.1 Status indication after start-up

After start-up the LED performs a test by blinking red/green for a short while. After this the LED should indicate as described in the table.

7.2 Status information during "Operation"

After power up (the "boot-up message" has been sent) the LED should indicate as follows.

LED "STATUS" Function

greenquick blinking

Device is in NMT condition "Pre-Operational"

red,quick blinking

Error detected (e.g short circuit of input, wrong kind of sensor connected)

red / greenblinking

CAN is not OK, e.g. CAN-H / CAN-L misplaced, wrong Baud rate, termination missing

Table 5: LED for module status

LED "STATUS" Function

greenquick blinking

Device is in NMT condition "Pre-Operational"

greensteady

Device is in NMT condition "Operational"

greenslow blinking

Device is in NMT condition "Operational" and is communicating

red,blinking

Error detected (e.g short circuit of input, wrong kind of sensor connected)

Table 6: LED for module status


CANopen Protocol

8

8. CANopen Protocol

This chapter provides important information for the user on how to connect the μCAN modules to a CANopen manager and put them into operation. A CANopen manager can be a PLC, a PC with a CAN interface or any other control unit such as an actua-tor.

For more information about CANopen managers please refer to the supplied documentation of your devices.

This documentation describes the currently implemented functi-ons and services of the μCAN modules.


CANopen Protocol General Information

8

8.1 General Information

The identifiers of the μCAN module are set up after initial start-up according to the Pre-defined Connection Set, which is de-scribed in detail in the CANopen communication profile CiA 301. The following table provides an overview of the supported ser-vices.

The above mentioned directions (transmit / Receive) signify the transfer directions from the μCAN.1.ai-SNAP to adjacent devices.

Object COB-ID (dec.) COB-ID (hex)

Network Management 0 0x000

SYNC 128 0x080

EMERGENCY 129 - 255 0x081 - 0x0FF

PDO 1 (receive) 513 - 639 0x201 - 0x27F

PDO 2 (receive) 769 - 895 0x301 - 0x37F

SDO (transmit) 1409 - 1535 0x581 - 0x5FF

SDO (receive) 1537 - 1663 0x601 - 0x67F

Heartbeat / Boot-up 1793 - 1919 0x701 - 0x77F

Table 7: Distribution of Identifiers


Network Management CANopen Protocol

8

8.2 Network Management

The device state (Stop / Pre-Operational / Operational) can be changed by means of the Network Management (NMT) messa-ges.

Start Node Start Node

Node = module address, 0 = all modules

The "Start Node" command sets the CAN-node into Operational mode which will enable the CAN module to communicate via PDOs.

Stop Node Stop Node


The "Stop Node" command sets the CAN-node into Stop mode which will prevent any communication via SDOs or PDOs.

Pre-Operational Enter Pre-Operational


The „Enter Pre-Operational“ command sets the CAN-node into Pre-Operational mode which will prevent communication via PDOs.

ID DLC B0 B1

0 2 01h Node

ID DLC B0 B1

0 2 02h Node

ID DLC B0 B1

0 2 80h Node


CANopen Protocol Network Management

8

Reset Node Reset Node


The „Reset Node“ command will execute a hardware reset of the node. After reset the node will be set to pre-operational mode au-tomatically and will send a "Boot-up message".

ID DLC B0 B1

0 2 81h Node


SDO Communication CANopen Protocol

8

8.3 SDO Communication

All parameters of the CAN module (object dictionary) are acces-sed via SDO (Service Data Object). A SDO message has the follo-wing contents:

The "Command Byte" (CMD) is signified as follows:

In case of Index and Data bytes the LSB is transmitted first!.

The minimum time delay between two successive SDO messages must not be lower than 10ms.

ID DLC B0 B1 B2 B3 B4 B5 B6 B7

8 CMD Index Sub-In-dex

Data bytes

SDO client (CANopen ma-ster)

SDO server(CANopen slave)

Function

22h 60h write, size not specified

23h 60h write, size = 4 bytes

27h 60h write, size = 3 bytes

2Bh 60h write, size = 2 bytes

2Fh 60h write, size = 1 byte

40h 42h read, size not specified

40h 43h read, size = 4 bytes

40h 47h read, size = 3 bytes

40h 4Bh read, size = 2 bytes

40h 4Fh read, size = 1 byte

Table 8: Commands for SDO expedited message

Note

Attention!


CANopen Protocol SDO Communication

8

8.3.1 SDO Abort Protocol

The SDO abort protocol is used to signalize a fault when acces-sing an object. This SDO abort protocol has the following format:

The ID of the message as well as the index and sub-index refer to the ID which emitted the access error.

The abort code may have the following values:


8 80h Index Sub-In-dex

Abort Code

Abort code Description

0504 0001h Client / Server command specifier unknown / invalid

0601 0000h Access to object not supported

0601 0001h Attempt to read a "write-only" object

0601 0002h Attempt to write a "read-only" object

0602 0000h Object does not exist in object dictionary

0609 0011h Sub-index does not exist in object dictionary

Table 9: SDO abort codes


Object Dictionary CANopen Protocol

8

8.4 Object Dictionary

This chapter describes the objects implemented in the μCAN.1.ai-SNAP module. For further information, please refer to the CANopen communication profile CiA 301 and the device profile CiA 404.

EDS The objects implemented in the μCAN.1.ai-SNAP are listed in an "Electronic Data Sheet" (EDS). You can download the respective EDS file from the MicroControl homepage.


CANopen Protocol Object Dictionary

8

8.4.1 Communication Profile

The μCAN.1.ai-SNAP module comprises the following objects of the communication profile CiA 301:

In addition, there is one object in the manufacturer area:

Index Name

1000h Device Profile

1001h Error Register

1005h SYNC ID

1008h Manufacturer Device Name

1009h Manufacturer Hardware Version

100Ah Manufacturer Software Version

1010h Store Parameters

1011h Restore Default Parameters

1014h COB-ID Emergency-Message

1017h Heartbeat Producer Time

1018h Identity Object

1800h 1st Transmit PDO Parameters

1801h 2nd Transmit PDO Parameters

1A00h 1st Transmit PDO Mapping

1A01h 2nd Transmit PDO Mapping

Table 10: Supported objects of the CANopen communication profile

Index Name

328Bh NMT Startup

Table 11: Supported objects of the CANopen communication profile



8

Device Profile

Index 1000h The object at index 1000h describes the device profile.

The object is read-only. Only sub-index 0 is supported. Access to other sub-indices will result in an error message.

Example: read parameter, module ID = 2, index = 1000h

As response the μCAN.1.ai-SNAP will send:

Byte 5 + Byte 6 = 0194h = 404d (Device Profile Number)Byte 7 + Byte 8 = 0002h = 2 (Additional Information)

Error Register

Index 1001h The object at index 1001h is the error register of the device.


Example: read parameter, module ID = 2, Index = 1001h

As response you will receive the status of the error register of the device.

Sub-Index Data Type Access Name Default Value

0 Unsigned32 ro Device Profile 0008 0194h


602h 8 40h 00h 10h 00h 00h 00h 00h 00h


582h 8 42 00 10h 00 91h 01h 03h 00

Sub-Index Data Type Access Name Default Value

0 Unsigned8 ro Error Register 00h


602h 8 40h 01h 10h 00 00 00 00 00



8

The following error types are supported:

Generic Error Bit 0 is set to ’1’. The generic error is set due to hardware faults.

Communication Error

Bit 4 is set to ’1’. The communication error is set due to faults on the CAN bus.




8

Manufacturer Device Name

Index 1008 The object at index 1008h contains the manufacturer device na-me.


Manufacturer Hardware Version

Index 1009h The object at index 1009h contains the manufacturer hardware version.


Manufaturer Software Version

Index 100Ah The object at index 100Ah contains the manufacturer software version.


Sub-Index Data Type Acc. Name Default Value

0 Unsigned32 ro Device name 1.ai


0 Unsigned32 ro Hardware version --


0 Unsigned32 ro Software version --



8

Store Parameters

Index 1010h The object at index 1010h supports the saving of parameters in a non volatile memory.

In order to avoid erroneous storage of parameters, the storage command is only executed if a specific signature is written to the appropriate sub-index. The signature is "save".

Example: save all parameters, module ID = 2, index = 1010h

As a response the μCAN.1.ai-SNAP will send:

Parameters are stored in a non-volatile memory (EEPROM) after reception of the store request message.


0 Unsigned8 ro Number of objects 04h

1 Unsigned32 rw Save all parameters 0000 0001h


602h 8 23h 10h 10h 01h 73h 61h 76h 65h


582h 8 60h 10h 10h 01h 00h 00h 00h 00h



8

The following list shows the parameters which can be stored or re-stored:

Index Name

1014h COB-ID Emergency-Message

1017h Heartbeat Producer Time

1800h 1st Transmit PDO Parameters

1801h 2nd Transmit PDO Parameters

6110h Sensor Type

6112h Operating Mode

7120h Input Scaling 1 Field Value

7121h Input Scaling 1 Process Value



7124h Input Offset

6508 h AL_1 Type

6509 h AL_1 Action

750B h AL_1 Hysteresis

750A h AL_1 Level

6518 h AL_2 Type

6519 h AL_2 Action


751A h AL_2 Level

Table 12: List of objects stored to EEPROM



8

Restore Default Parameters

Index 1011h The object at index 1011h supports the restore operation of de-fault parameters.

In order to avoid the erroneous restoring of default parameters, the restoring command is only executed if a specific signature is written to the appropriate sub-index. The signature is "load".

Example: restore all parameters, module ID = 2, Index = 1011h


COB-ID for emergency message

Index 1014h The object at index 1014h defines the identifier value for the emergency message.

Only sub-index 0 is supported. Access to other sub-indices will result in an error message. The default value for the identifier is 80h + selected node ID.

The emergency-ID is not saved to the non-volatile memory auto-matically. Storage of this parameter is triggered via object 1010h (refer to “Store Parameters” on page 42).


0 Unsigned8 ro Number of objects 04h

1 Unsigned32 rw Restore all param. 0000 0001h


602h 8 23h 11h 10h 01h 6Ch 6Fh 61h 64h


582h 8 60h 11h 10h 01h 00h 00h 00h 00h


0 Unsigned32 rw COB-ID EMCY 80h + NID

Note



8

Identity Object

Index 1018h The object at index 1018h holds the identity object (LSS address) of the device.

The object is read-only. Only sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message.

Vendor ID The "Vendor ID" contains a unique value allocated to each manu-facturer. The numbers are centrally managed and assigned to manufactureres by CAN in Automation (CiA).

Product Code The "Product Code" is an manufacturer specific code which is identical to the order code of MicroControl devices.

Revision Number The "Revision Number" consists of a major revision number (up-per word) and a minor revision number (lower word). The major revision number identifies a specific CANopen behaviour. The minor revision number identifies different versions with the same CANopen behaviour.

Serial Number The "Serial Number" contains the serial number of a device.


0 Unsigned8 ro Largest Sub-Index 4

1 Unsigned32 ro Vendor ID 0000 000Eh

2 Unsigned32 ro Product Code 0010 xxxxh

3 Unsigned32 ro Revision Number 0001 00xxh

4 Unsigned32 ro Serial Number --



8

Autostart / NMT Startup

Index 328Bh The object at index 328Bh supports the NMT startup feature. In addition to the standard procedure, the μCAN.1.ai-SNAP sup-ports a propriatery service for the NMT startup as well.

The object is write only. When writing the value 89h to this ob-ject and "Store All Parameters" the module will automatically enter the CANopen status "Operational" after power up.

This feature is used, where no CANopen Master is available in the network to start all nodes.


0 Unsigned8 wo Autostart after power 89h



8

8.4.2 Device Profile

This section describes all device profile specific objects (CiA404) of the μCAN.1.ai-SNAP:

In addition, the module contains a so called "Alarm Block" which is used to switch the output relay.

Index Name

6110h Sensor Type

6112h Operating Mode

6131h Physcial Unit

6132h Decimal Digits

6150h Analog Input Status

7100h Analog Input Field Value (raw values from ADC)





7124h Input Offset

7130h Analog Input Process Value

Table 13: Supported objects of the device profile CiA404

Index Name

7500 h AL_1 Input Value

6508 h AL_1 Type

6509 h AL_1 Action


750A h AL_1 Level

7510 h AL_2 Input Value

6518 h AL_2 Type

6519 h AL_2 Action

Table 14: Supported objects of the alarm block



8


751A h AL_2 Level

Table 14: Supported objects of the alarm block



8

Analogue Input Signal Type

Index 6110h The object at index 6110h defines the analogue input signal ty-pe.

The object allows read-only access for voltage inputs. Only sub-indices 0 to 1 are supported. Access to other sub-indices will re-sult in an error message.

The following signal types are supported.

Example: Set input type to current (4..20mA, module address 1, channel 1)


The signal type is not saved to the non-volatile memory automat-ically. Storing of this parameter is triggered via object 1010h (re-fer to “Store Parameters” on page 42).


0 Unsigned8 ro Largest Sub-Index 01h

1 Unsigned16 ro Signal Type Output 1 ---h

Value Function

29h Voltage Input ( +/- 10 V ) / default voltage input

34h Current Input ( 0..20 mA ) / default current input

33h Current Input ( 4..20 mA )

Table 15: input signal type definitions


601h 8 22h 10h 61h 01h 34h 00h 00h 00h


581h 8 60h 10h 61h 01h 00h 00h 00h 00h

Note



8

Analogue Input Operating Mode

Index 6112h The object at index 6112h defines whether the input is switched ON or Off.

The object allows read-write access. Only sub-indices 0 to 1 are supported. Access to other sub-indices will result in an error mes-sage.

The following signal types are supported.

Example: Switch Off the input ( module address 1, channel 1)


Now the input is switched Off and, for example, a value of 0mA will not generate an Emergency Message when used as 4..20mA input.

The operating mode is not saved to the non-volatile memory au-tomatically. Storing of this parameter is triggered via object 1010h (refer to “Store Parameters” on page 42).



1 Unsigned16 ro Signal Type Output 1 01h ( default)

Value Function

01h input acitve

00h input off ( no sensor faults will be generated )

Table 16: supported input modes


601h 8 22h 12h 61h 01h 00h 00h 00h 00h


581h 8 60h 10h 61h 01h 00h 00h 00h 00h

Note



8

Physical Unit Process Value

Index 6131h The object at index 6131h shows the physical unit of the signal input according to the sensor type.

The object allows read only access. Only sub-indices 0 to 1 are supported. Access to other sub-indices will result in an error mes-sage.

The following types of physical units are supported. Each channel can be configured individually.



1 Unsigned32 ro Physical Unit Input 1 ---

Value Function

0026 0000h Voltage in [V]

FD04h 0000h Current in [mA]

Table 17: physical unit



8

Decimal Digits Process Value

Index 6132h The object at index 6132h shows the decimal digits of the signal input according to the sensor type.


Both versions of the module support 3 decimal digits only.



1 Unsigned32 ro Input 1 03h



8

Analogue Input Status

Index 6150h The object at index 6150h shows the analogue input status.

The object allows read-only access. Only sub-indices 0 to 1 are supported. Access to other sub-indices will result in an error mes-sage.

The following status information is supported:

Combinations of different values are possible.

Example: Read input status information, sensor has undergone a range of pos. overload and in the end has an error condition:

Example: As a response the μCAN.1.ai-SNAP will send:



1 Unsigned16 ro Input Status ---h

Value Function

00h Measuring value is valid

01h Error condition on input / Measuring value NOT valid

02h Positive Overload range

04h Negative Overload range

Table 18: input signal type definitions


601h 8 40h 50h 61h 01h 00h 00h 00h 00h


581h 8 42h 50h 61h 01h 03h 00h 00h 00h



8

Analogue Input Field Value

Index 7100h The object at index 7100h holds the digital values of the ADC for each input which are not linearized or editted in any way.


Here the digital values of the ADC can be read for each channel. The digital values might not always be linear to the output signal due to internal scaling / calibration parameters.



1 Unsigned16 ro ADC Value 1 -



8

Analogue Input Process Value

Index 7130h The object at index 7130h holds the 16-bit values of the analo-gue inptut.


The following tables show some input values for the object 7130h and the signals fed to the terminal block of the input.

Example values for the analogue input signal type "Voltage"

Example values for the analogue input signal type "Current"



1 Unsigned16 rw Input 1 0000h

Object 7130h, Sub 0 Input Signal

00 00h 0,000 V

03 E8h 1,000 V

EC 78h -5,000 V

27 10h 10,000V

Table 19: Input signal examples / Voltage

Object 7130h, Sub 0 Input Signal

00 00h 0,000 mA

03 E8h 1,000 mA

27 10h 10,000 mA

4E 20h 20,000 mA

Table 20: Input signal examples / Voltage


CANopen Protocol Scaling

8

8.5 Scaling

Most sensors provide current or voltage signals although the ori-ginal physical signal of the sensor is different from this.

The μCAN.1.ai-SNAP is able to scale the voltage or current signals back to the original physical unit.

To scale the input signals the linear equation is used and the equation is defined by the points (x1 | y1) and (x2 | y2).The gradient is calculated by means of the following equation:

By changing the offset and the gradient the linear equation can be moved to any point which is desired.

Fig. 16: Original scaling with all values set to "0"

The following table shows all the objects used to change offset and gradient:

Table 21: Scaling variables

variable abbr. object meaning default [d] [V] | [mA]

x1 = FV1 7120h AI Input Scaling 1 FV 0 | 0

y1 = PV1 7121h AI Input Scaling 1 PV 0 | 0

x2 = FV2 7122h AI Input Scaling 2 FV 0 | 0

y2 = PV2 7123h AI Input Scaling 2 PV 0 | 0

7124h AI Input Offset 0 | 0

y mx b+=

my2 y1–x2 x1–----------------

PV2 PV1–FV2 FV1–--------------------------= =

b m

m

b b


Scaling CANopen Protocol

8

Fig. 17: New scaling after change of offset and gradient

At least one of the variables has to be changed to a different value then "0" to start the process of scaling. In default condition all va-riables are set to "0" and hence the scaling is switched off.

The scaling is not saved to the non-volatile memory automatical-ly. Storing of this parameter is triggered via object 1010h (refer to “Store Parameters” on page 42).

AI Input Scaling 1 Field Value

Index 7120h Index 7120h is one of the values which can change (as well as indices 7121h, 7122h, 7123h and 7124h) the scaling of the in-put signal.

The object allows read only access. Only sub-indices 0 to 1 are supported. Access to other sub-indices will result in an error message.

The scaling is shown in the paragraph “Scaling” on page 56.

AI Input Scaling 1 Process Value


Note

Sub-Index Data type access meaning default[V] | [mA]


1 Signed16 rw AI Imput Scaling 1 FV of Channel 1

0000h | 0000h

Note


CANopen Protocol Scaling

8


The scaling is shown in the paragraph “Scaling” on page 56 .

AI Input Scaling 2 Field Value




AI Input Scaling 2 Process Value





1 Signed16 rw AI Imput Scaling 1 PV of Channel 1

0000h | 0000h

Attention!



1 Signed16 rw AI Imput Scaling 2 FV of Channel 1

0000h | 0000h

Attention!



1 Signed16 rw AI Imput Scaling 2 PV of Channel 1

0000h | 0000h


Scaling CANopen Protocol

8


AI Input Offset




Attention!



1 Signed16 rw AI Imput Offset of Channel 1

0000h | 0000h

Attention!


CANopen Protocol Alarm Block

8

8.6 Alarm Block

The μCAN.1.ai-SNAP is equipped with a relais which can be used for alarm signaling. The relais can either be used to signal a "high-alarm" or a "low-alarm". Both alarms at the same time are not supported.

Fig. 18: Alarm block

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��

��

��

��

��

��

��

��

��

��

��

��

��

��

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Alarm 1Alarm 2


Device Monitoring CANopen Protocol

8

8.7 Device Monitoring

For monitoring the CANopen device the following two mecha-nisms (protocols): heartbeat node guarding

Node guarding is not supported by the μCAN.1.ai-SNAP modu-le.

CAN in Automation recommends to exclusively use the heartbe-at-protocol for monitoring purposes (CiA AN 802 V1.0: CANopen statement on the use of RTR messages).

Attention!


CANopen Protocol Device Monitoring

8

8.7.1 Heartbeat Protocol

The heartbeat protocol is used in order to survey other CANopen nodes in the network and retrieve their network state.

Heartbeat ID The identifier of the heartbeat protocol is set to 700h + module address. The identifier can not be changed. The message repeti-tion time (called "heartbeat producer time") can be configured via index 1017h.

The heartbeat protocol transmits one byte of user data, which re-presents the network state.

After Power-on / Reset the module will send the "Boot-up messa-ge" to signal that the initialization sequence has been completed.

Example: Power-on of the module with address 2

Network State Code (dec.) Code (hex)

Bootup 0 00h

Stopped 4 04h

Operational 5 05h

Pre-Operational 127 7Fh

Table 22: Status information for heartbeat

ID DLC B0

702h 1 00h


Device Monitoring CANopen Protocol

8

Producer Heartbeat Time

Index 1017h The object at index 1017h sets the Producer Heartbeat Time. If the time is set to 0ms, the Heartbeat protocol will be switched off. The time is a multiple of 1ms.

The object allows read-write access. Only sub-index 0 is support-ed. Access to other sub-indices will result in an error message.

Example: Producer time 1000 ms, device address 1

As a response you will receive the following message:

The Producer Heartbeat Time is not automatically stored in the non-volatile memory. Storage has to be triggered index 1010h (refer to “Store Parameters” on page 42).


0 Unsigned16 rw Producer Time 0000h


601h 8 22h 17h 10h E8h 03h 00h 00h 00h


581h 8 60h 17h 10h 00h 00h 00h 00h 00h

Note


CANopen Protocol PDO Communication

8

8.8 PDO Communication

For real-time data transfer "Process Data Objects" (PDOs) are used. The transfer of PDOs is performed with no protocol overhead.

PDO communication is possible only in "Operational" mode of the devices.

Note


PDO Communication CANopen Protocol

8

8.8.1 Transmission Modes

Event Driven

Message transmission is triggered by object specific events. For synchronous PDOs this is the expiration of the specified transmis-sion period, synchronised by the reception of the SYNC object. For acyclically transmitted synchronous PDOs and asynchronous PDOs the triggering of a message transmission is a device-specific event defined in the device profile.

Timer Driven

Message transmission is either triggered by a device-specific event or if a pre-set time has elapsed without an event having oc-cured.

The μCAN.1.ai-SNAP does not support the RTR-based PDO trans-mission types FCh (252d) and FDh (253d). Bit 30 of the COB-ID field of the PDO communication parameter record is always set to 1.

Note


CANopen Protocol PDO Communication

8

8.8.2 Synchronisation Message

Index 1005h The object at index 1005h sets the identifier for the SYNC-mes-sage. On reception of a message with this identifier the receipt / processing of PDOs is triggered.

Only sub-index 0 is supported. Access to other sub-indices will result in an error message.

Example: Set SYNC-ID to 10, module address 1

As a response you will receive the following message:

The default value of the SYNC identifier is 80h. This assigns high priority to SYNC-messages on the CAN bus.

The SYNC-identifier is not automatically stored to a non-volatile memory. Storage of this parameter is triggered via index 1010h (refer to “Store Parameters” on page 42)


0 Unsigned32 rw COB-ID SYNC 80h


601h 8 22h 05h 10h 0Ah 00h 00h 00h 00h


581h 8 60h 05h 10h 00h 00h 00h 00h 00h

Note


Emergency Message CANopen Protocol

8

8.9 Emergency Message

An internal device error will trigger an emergency object and will be transmitted from an emergency producer on the device.

An emergency is different from a SDO error message. The SDO error message only holds the access error to the object dictio-nary, whereas an emergency indicates a severe hardware/software failure.

The error ID has the default value 128d + module-address. The emergency message has the following structure:

The following emergency error codes are supported:


8 Error Code ER Manufacturer Specific Error Field

Error Code Description

0000h Error reset or no error

1000h generic error

5000h module hardware

6000h module software

8100h CAN controller entered "warning" state

8110h CAN controller overrun

8120h CAN controller entered "error passive" state

8130h heartbeat event / node guarding event

8140h device recovered bus-off

8150h identifier collision (Tx-ID reception)

Table 23: Emergency error codes

Note


CANopen Protocol Emergency Message

8


Technical Data

9

9. Technical Data

Power Supply

Supply Voltage 8 .. 50 V DC, reverse polarity protected

Power consumption 1,5 W (60 mA @ 24 V DC) no load

Connection Screw terminals at the COMBICON plug.

CAN bus

Bit rates 20 kBit/s 1 MBit/s

State of Bus active node

Protocol CANopen acc.. toCiA301 V4.02,CiA401 V3.00

Connection Screw terminals at the COMBICON plug.

EMC

Electromagnetic immunity according to EN 50082-2

Electrostatic discharge 8 kV air discharge, 4 kV contact discharge, according to EN 61000-4-2

Electromagnetic fields 10 V/m, according to ENV 50204

Burst 5 kHz, 2 kV according to EN 6100-4-4

Conducted RF disturbance 10 V, according to EN 61000-4-6

Electromagnetic emission According to EN 50081-2, requirements according to EN 55022, class A


Technical Data

9

Mechanics

Casing PA 66 FR

Dimensions 114,5 * 22,5 * 99 mm (L * W * H)

Weight approx. 150 g

Protection Class IP20

Digital inputs

Input impedance 24,2 kOhm

Input Low Uin < 0,4 * UPWR

Input High Uin < 0,6 * UPWR

Digital outputs

Type High-Side Power-MOSFET orLow-Side Power-MOSFET

Maximum switching voltage 50 V

Maximum output current 2,5 A with High-Side Power-MOSFET2,0 A with Low-Side Power-MOSFET

Short circuit detection from 5 A

Total current 6 A


Index


I

Numerics

6112h 50

6131h 51, 52

6150h 53

B

Bit rateCable length 11

Bootup message 62

C

Cable lengths 11

CAN_H 22

CAN_L 22

CANbus cable 20

CANopenDS-301 32DS-404 47

Case dimensions 12

Communication Profile 37

D

Device Profile 39

E

EMCYsee Emergency message

Emergency message 67

H

Heartbeat Protocol 62Producer 63

I

Identity object 45

Installation 15

M

Manufacturer Device Name 41

N

Network Management 33Enter Pre-Operational 33Reset Node 34Start Node 33Stop Node 33

NMTsee Network Management

O

Object1000h 391001h 391005h 661008h 411009h 41100Ah 411010h 421011h 44, 461014h 441017h 631018h 45

P

PDOsee Process Data Object

PE supply 14

Pre-defined Connection Set 32

Process Data Object 64Transmission modes 65

R

Relay output 27

S

SYNCsee Synchronisation Message

Synchronisation Message 66

µcan.1.ai-snap · µcan.1.ai-snap manual analogue acquisition for din-rail version 1.0...

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